• 대한조선학회논문집
• /
• 제58권2호
• /
• pp.90-96
• /
• 2021

In this study, the method of determining the state of grid points in the adaptable surface particle method based on grid system developed as a free-surface tracing method was improved. The adaptable surface particle method is a method of determining the state of the grid point according to the shape of the free-surface and obtaining the intersection of the given free-surface and grid line where the state of the grid point changes. It is difficult to determine the state of grid points in the event of rapid flow, such as collision or separation of free-surfaces, and this study suggests a method for determining the state of current grid points using the state of surrounding grid points where the state of grid point are known. A grid layer value was assigned sequentially to a grid away from the free-surface, centering on the boundary cell where the free-surface exists, to identify the connection information that the grid was separated from the free-surface, and to determine the state of the grid point sequentially from a grid away from the free-surface to a grid close to the free-surface. To verify the improved method, a numerical analysis was made on the problem of dam break in which a sudden collision of free-surface occurred and the results were compared, and the results were relatively reasonable.

• 대한조선학회논문집
• /
• 제58권3호
• /
• pp.191-197
• /
• 2021

This study addresses autonomous ship collision avoidance in narrow channels using curvilinear coordinates. Navigation in narrow channels or fairways is known to be much more difficult and challenging compared with navigation in the open sea. It is not straightforward to apply the existing collision avoidance framework designed for use in the open sea to collision avoidance in narrow channels due to the complexity of the problem. In this study, to generalize the autonomous navigation procedure for collision avoidance in narrow channels, we introduce a curvilinear coordinate system for collision-free path planning using a parametric curve, B-spline. To demonstrate the feasibility of the proposed algorithm, ship traffic simulations were performed and the results are presented.

• 한국콘텐츠학회논문지
• /
• 제16권11호
• /
• pp.83-90
• /
• 2016

본 논문에서는 저전력 통신 기술인 IEEE 802.15.4 MAC (Media Access Control) 프로토콜에서 지원하는 Collision Free Period(CFP)에서의 전송 성능 분석을 수행한다. 분석을 위해 CFP의 서비스 타겟인 주기적 트래픽을 고려하고 Quality of Service 요구사항에 따라 MAC 계층에 전달되는 패킷전달 형태를 batch와 non-batch로 구분하여 throughput, delay, energy 측면에서 성능을 분석한다. 도출된 분석 결과를 토대로 Pedometer, ECG, EMG와 같이 주기적인 트래픽을 생성하는 헬스케어 애플리케이션에 대해 Collision Avoidance Period(CAP)에서의 전송과 성능 비교를 수행한다. 성능 평가를 통해 헬스케어와 같이 주기적이며 time-critical 트래픽을 생성하는 애플리케이션은 CFP 전송이 에너지 효율적이며 대역폭 요구 사항이 큰 애플리케이션에서는 CAP 대비 최대 46%의 에너지가 절감됨을 확인하였다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집C
• /
• pp.116-121
• /
• 2001

Verification of tool collision is an important issue in die and mold machining. In this paper three functions of verification are schematically explained based on Z-Map model. The first function is getting a collision-free region when a tool assembly and a part surface model are given. The second function estimates the shortest length of cutter shank with that the tool cuts all of a region without collision. The last one is cutting simulation considering all parts of tool assembly as well as cutter blade. Those functions can be easily implemented by using several basic operators of Z-Map model which are explained also. Proposed approaches have enough accuracy to verify collision in reasonable computing time.

• 대한조선학회논문집
• /
• 제54권1호
• /
• pp.26-33
• /
• 2017

In this study, the surface marker method, one of the particle tracking methods, used to track the free surface is extended to cover the more general cases easily including the collision and separation of the free surface. In surface particle method to redistribute particles effectively using the grid system, the free surface is composed of the sum of quadrilaterals having four curves where fixed markers are placed at ends of each curve. Fixed markers are used to know how curves are connected to each other. The position of fixed markers can move as the free surface deforms but all fixed markers cannot be deleted during all time of simulation to keep informations of curve connection. In the case of the collision or separtion of the free surface where several curves can be intersected disorderly, severe difficulties can occur to define newly states of curve connection. In this study, the adaptable surface parTicle method without fixed markers is introduced. Intersection markers instead of the fixed markers are used to define quadrilaterals. The position of the intersection markers is defined to be the intersection point between the free surface and the edge of the grid and it can be added or deleted during the time of simulation to allow more flexibilities. To verify numerical schemes, two flow cases are simulated and the numerical results are compared with other's one and shown to be valid.

• 한국통신학회논문지
• /
• 제17권9호
• /
• pp.939-950
• /
• 1992

Collision-free 전송(傳送) 가능성과 2차 다중(多重) 접속 간섭(干涉)의 영향면에서 다중(多重) 캡쳐 수신기(受信機)를 사용한 단일확산(單一擴散)코드 방식의 성능(性能)이 송신기별(送信機別)(T/O) 코드분할 다중(多重)접속(CDMA) 방식(方式)의 성능(性能)과 비교(比較)된다. 성능비교(性能比較)를 위해, 단일(單一)코드 방식(方式)과 완전한 collision-free 전송(傳送)을 보장하는 T/O CDMA 방식(方式)에 대해 다중(多重)접속 간섭(干涉)의 특징이 서술(敍述)된다. 백색(白色) 가우시안 잡음(雜音)하에서 직접(直接)시퀀스 차동(差動) 위상(位相)편이키잉 데이터 변조(變調)와 forward 에러정정부호화(訂正符號化)를 (BCH 코드) 사용한 위의 두방식(方式)에 대해 throughput 성능(性能)이 평가(評價)된다. 라디오의 수(數)가 비교적 많은 경우에, 적당한 신호대(信號對) 잡음화(SNR)에서 단일(單一)코드 방식(方式)이 T/O CDMA방식보다 최대(最大) throughput을 증가(增加)시킬 수 있음을 확인(確認)하였다.

• 전자공학회논문지B
• /
• 제29B권11호
• /
• pp.36-45
• /
• 1992

A numerical trajectory planning method for path-constrained trajectory planning is proposed which ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities. For each robot, physical constraints of the robots such as limited torques or limited rotational velocities of the actuators are converted to the constraints on velocity and acceleration along the path, which is described by a scalar variable denoting the traveled distance from starting point. Collision region is determined on the coordination space according to the kinematic structures and the geometry of the paths of the robots. An Extended Coordination Space is then constructed` an element of the space determines the postures and the velocities of the robots, and all the constraints described before are transformed to some constraints on the behaviour of the coordination-velocity curves in the space. A dynamic programming technique is them provided with on the discretized Extended Coordination Space to derive a collision-free and time-optimal trajectory pair. Numerical example is included.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.996-1003
• /
• 1990

We present algebraic algorithms for collision-avoidance robot motion planning problems with planar geometric models. By decomposing the collision-free space into horizontal vertex visibility cells and connecting these cells into a connectivity graph, we represent the global topological structure of collision-free space. Using the C-space obstacle boundaries and this connectivity graph we generate exact (non-heuristic) compliant and gross motion paths of planar curved objects moving with a fixed orientation amidst similar obstacles. The gross motion planning algorithm is further extended (though using approximations) to the case of objects moving with both translational and rotational degrees of freedom by taking slices of the overall orientations into finite segments.

• 전자공학회논문지B
• /
• 제28B권5호
• /
• pp.357-368
• /
• 1991

Collision-free trajectory planning for two robots is considered. The two robot system handled in the paper is given specified geometric paths for two robots, and the task is repeating. Then, the robot dynamics is transformed as a function of the traveled lengths along the paths, and the bounds on acceleration and velocity are described in the phase plane be taking the constraints on torques and joint velocities into consideration. Collision avoidance and time optimality are considered simultaneously in the coordination space and the phase plane, respectively. The proof for the optimality of the proposed algorithm is given, and a simulation result is included to show the usefulness of the proposed method.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1991년도 추계학술대회 논문집 학회본부
• /
• pp.409-411
• /
• 1991

This paper presents a collision avoidance scheme for redundant robot manipulators based on the Configuration Control Scheme. We set a center line through the free space. And we use the redundancy to put the robot links, around the center line as close as possible to avoid the collision with obstacles. Computer simulation shows the effectiveness of this approach.